Design, Modeling and Development of a Serial Hybrid Motorcycle with HCCI Engine

This paper discusses the design, modeling, and development of small motorcycle equipped with a HCCI engine in an series hybrid configuration. A mathematical model was developed using MATLAB/Simulink and used to size the powertrain components and to predict fuel economy. A conventional 125 cc spark ignition engine was modified to run in HCCI combustion mode and integrated into a prototype vehicle. Dual-fuel and external EGR strategies were used to upgrade the engine speed and torque capabilities of the engine to meet the requirements of the powertrain. An electrical generator, hub-motor, battery pack and other power electronics devices were used to form the electrical system for the vehicle. The advantages of the proposed design compared to the original motorcycle with SI engine and CVT transmission are: 1) a reduction in noxious emissions due to the HCCI combustion, and 2) higher fuel economy in city driving because of the HCCI engine and series hybrid powertrain. Fuel economy was measured by driving the motorcycle on a chassis dynamometer using a sequence of ECE-40 driving cycles. The overall fuel economy was measured to be 73.7km/L which represents a 139.3% increase in fuel economy over the baseline vehicle

Operational criteria for battlefield vehicles

textModern military ground vehicles are no longer able to respond effectively to the rapidly changing mission requirements of modern military conflicts. Military vehicle architectures, which utilize passive suspension components and traditional drivetrain/steering systems, do not provide the operational flexibility to meet the demands of the operator. Advances in intelligent actuation technology allow for the development of a new vehicle architecture - the Intelligent Corner Vehicle (ICV). The ICV utilizes intelligent actuator technology to actively control the four degrees of freedom of each wheel of the vehicle - drive, camber, steering, and suspension. The utilization of intelligent actuation requires the characterization of the motions and behavior of the tire and the vehicle chassis in order to effectively apply the tire to the road surface - the development of vehicle performance criteria. A brief review of the state of wheeled military systems is presented. Many modern military vehicles were designed to improve protection at the expense of mobility - a process that has had negative effects on vehicle capability. An overview of the pneumatic tire used for wheeled vehicles is presented, highlighting the nonlinearities of tire behavior. The complexity of tire force generation drives the need for the application of intelligent actuation. Traditional actuation of wheel motion is presented along with a variety of current efforts to apply intelligent actuation to individual degrees of freedom of the tire. These efforts can be shown to improve vehicle performance, but intelligent actuation must be applied to all aspects of tire motion, requiring the use of the ICV architecture and the generation of performance criteria by which the complex motion of the vehicle may be evaluated. The Robotics Research Group has a history of developing and evaluating performance criteria for complex dynamic systems. and review of performance criteria developed for serial chain robotics is presented. These criteria address task independent actuator motion in addition to actuator ranges and limits, and their application to the ICV is discussed. A brief overview of several important concepts of classical vehicle dynamics are presented. The application of criteria derived from these concepts to the ICV architecture is discussed. This report presents the complexities of tire behavior and vehicle motion, the need for alternative architectures (the ICV), and a variety of performance criteria required to evaluate vehicle motion in real time. Criteria that are presented are summarized along with their definition and physical meaning. Future work for the development of the ICV involves the generation of a vehicle model for evaluating the application and range values of the presented criteria.Mechanical Engineerin

Development of a Fuzzy Slip Control System for Electric Vehicles with In-wheel Motors

Replicated with permission by SAE Copyright © 2017 SAE International. Further distribution of this material is not permitted without prior permission from SAE.A two-passenger all-wheel drive urban electric vehicle (AUTO21EV) with four direct-drive in-wheel motors and an active steering system has been designed and developed at the University of Waterloo. A novel fuzzy slip control system is developed for this vehicle using the advantage of four in-wheel motors. A conventional slip control system uses the hydraulic brake system in order to control the tire slip ratio, which is the difference between the wheel center velocity and the velocity of the tire contact patch along the wheel plane, thereby influencing the longitudinal dynamics of a vehicle. The advantage of the proposed fuzzy slip controller is that it acts as an ABS system by preventing the tires from locking up when braking, as a TCS by preventing the tires from spinning out when accelerating. More importantly, the proposed slip controller is also capable of replacing the entire hydraulic brake system of the vehicle by automatically distributing the braking force between the wheels using the available braking torque of the in-wheel motors. In this regard, the proposed fuzzy slip controller guarantees the highest traction or braking force on each wheel on every road condition by individually controlling the slip ratio of each tire with a much faster response time. The performance of the proposed fuzzy slip controller is confirmed by driving the AUTO21EV through several test maneuvers using a driver model in the simulation environment. As the final step, the fuzzy slip controller is implemented in a hardware- and operator-in-the-loop driving simulator and its performance and effectiveness is confirmed.Funding for this work was provided by the Natural Sciences and Engineering Research Council of Canada(NSERC) and a grant from AUTO21, a Canadian Network of Centres of Excellence

Development of an Integrated Control Strategy Consisting of an Advanced Torque Vectoring Controller and a Genetic Fuzzy Active Steering Controller

Replicated with permission by SAE Copyright © 2017 SAE International. Further distribution of this material is not permitted without prior permission from SAE.The optimum driving dynamics can be achieved only when the tire forces on all four wheels and in all three coordinate directions are monitored and controlled precisely. This advanced level of control is possible only when a vehicle is equipped with several active chassis control systems that are networked together in an integrated fashion. To investigate such capabilities, an electric vehicle model has been developed with four direct-drive in-wheel motors and an active steering system. Using this vehicle model, an advanced slip control system, an advanced torque vectoring controller, and a genetic fuzzy active steering controller have been developed previously. This paper investigates whether the integration of these stability control systems enhances the performance of the vehicle in terms of handling, stability, path-following, and longitudinal dynamics. An integrated approach is introduced that distributes the required control effort between the in-wheel motors and the active steering system. Several test maneuvers are simulated to demonstrate the performance and effectiveness of the integrated control approach, and the results are compared to those obtained using each controller individually. Finally, the integrated controller is implemented in a hardware- and operator-in-the-loop driving simulator to further evaluate its effectiveness.Funding for this work was provided by the Natural Sciences and Engineering Research Council of Canada and agrant from AUTO21, a Canadian Network of Centres of Excellenc

FPGA Based Powertrain Control for Electric Vehicles

In this article an FPGA based solution for the advance control of multi-motor EVs was proposed. The design was build around a powertrain IP Core library containing the most relevant functions for the EV operation: motor torque and flux regulation, energy loss minimization and vehicle safety. Due to the parallel, modularity and reconfigurability features of FPGAs, this library can be reused in the development of several control architectures that best suits the EV powertrain configuration (single or multi-motor) and functional requirements. As proof of concept, the powertrain library was employed in the design of minimal control system for a bi-motor EV prototype and implemented in a low cost Xilinx Spartan 3 FPGA. Experimental verification of the control unit was provided, showing reasonable consumption metrics and illustrating the energy benefits from regenerative braking

The design and construction of electronic motor control and network interface hardware for advance concept urban mobility vehicles

Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2008.Includes bibliographical references (leaf 25).Over the past several years, the Smart Cities Group at MIT's Media Lab has engaged in research to develop several advanced concepts for vehicles to improve urban mobility. This research has focused on developing a modular vehicle architecture, centered around the concept of the self-contained Wheel Robot. The goal is to develop Wheel Robot systems in which all power, transmission, suspension, and steering functions are incorporated into self-contained units with a simple, standardized interface providing for mechanical mounting, electrical power distribution, and access to the vehicle control network. This thesis outlines my research and design work implementing several electronic power and control systems that contribute to ongoing Wheel Robot development efforts. The designs for a high-current motor controller and two electronic sensing and control interfaces are described, and several strategies for further control systems development are proposed.by Bryan L. Morrissey.S.B

Unlimited-wokspace teleoperation

Thesis (Master)--Izmir Institute of Technology, Mechanical Engineering, Izmir, 2012Includes bibliographical references (leaves: 100-105)Text in English; Abstract: Turkish and Englishxiv, 109 leavesTeleoperation is, in its brief description, operating a vehicle or a manipulator from a distance. Teleoperation is used to reduce mission cost, protect humans from accidents that can be occurred during the mission, and perform complex missions for tasks that take place in areas which are difficult to reach or dangerous for humans. Teleoperation is divided into two main categories as unilateral and bilateral teleoperation according to information flow. This flow can be configured to be in either one direction (only from master to slave) or two directions (from master to slave and from slave to master). In unlimited-workspace teleoperation, one of the types of bilateral teleoperation, mobile robots are controlled by the operator and environmental information is transferred from the mobile robot to the operator. Teleoperated vehicles can be used in a variety of missions in air, on ground and in water. Therefore, different constructional types of robots can be designed for the different types of missions. This thesis aims to design and develop an unlimited-workspace teleoperation which includes an omnidirectional mobile robot as the slave system to be used in further researches. Initially, an omnidirectional mobile robot was manufactured and robot-operator interaction and efficient data transfer was provided with the established communication line. Wheel velocities were measured in real-time by Hall-effect sensors mounted on robot chassis to be integrated in controllers. A dynamic obstacle detection system, which is suitable for omnidirectional mobility, was developed and two obstacle avoidance algorithms (semi-autonomous and force reflecting) were created and tested. Distance information between the robot and the obstacles was collected by an array of sensors mounted on the robot. In the semi-autonomous teleoperation scenario, distance information is used to avoid obstacles autonomously and in the force-reflecting teleoperation scenario obstacles are informed to the user by sending back the artificially created forces acting on the slave robot. The test results indicate that obstacle avoidance performance of the developed vehicle with two algorithms is acceptable in all test scenarios. In addition, two control models were developed (kinematic and dynamic control) for the local controller of the slave robot. Also, kinematic controller was supported by gyroscope

Research and Implement of PMSM Regenerative Braking Control for Electric Vehicle

As the society pays more and more attention to the environment pollution and energy crisis, the electric vehicle (EV) development also entered in a new era. With the development of motor speed control technology and the improvement of motor performance, although the dynamic performance and economical cost of EVs are both better than the internal-combustion engine vehicle (ICEV), the driving range limit and charging station distribution are two major problems which limit the popularization of EVs. In order to extend driving range for EVs, regenerative braking (RB) emerges which is able to recover energy during the braking process to improve the energy efficiency. This thesis aims to investigate the RB based pure electric braking system and its implementation. There are many forms of RB system such as fully electrified braking system and blended braking system (BBS) which is equipped both electric RB system and hydraulic braking (HB) system. In this thesis the main research objective is the RB based fully electrified braking system, however, RB system cannot satisfy all braking situation only by itself. Because the regenerating electromagnetic torque may be too small to meet the braking intention of the driver when the vehicle speed is very low and the regenerating electromagnetic torque may be not enough to stop the vehicle as soon as possible in the case of emergency braking. So, in order to ensure braking safety and braking performance, braking torque should be provided with different forms regarding different braking situation and different braking intention. In this thesis, braking torque is classified into three types. First one is normal reverse current braking when the vehicle speed is too low to have enough RB torque. Second one is RB torque which could recover kinetic energy by regenerating electricity and collecting electric energy into battery packs. The last braking situation is emergency where the braking torque is provided by motor plugging braking based on the optimal slip ratio braking control strategy. Considering two indicators of the RB system which are regenerative efficiency and braking safety, a trade-off point should be found and the corresponding control strategy should be designed. In this thesis, the maximum regenerative efficiency is obtained by a braking torque distribution strategy between front wheel and rear wheel based on a maximum available RB torque estimation method and ECE-R13 regulation. And the emergency braking performance is ensured by a novel fractional-order integral sliding mode control (FOISMC) and numerical simulations show that the control performance is better than the conventional sliding mode controller

Proceedings of the 4th field robot event 2006, Stuttgart/Hohenheim, Germany, 23-24th June 2006

Zeer uitgebreid verslag van het 4e Fieldrobotevent, dat gehouden werd op 23 en 24 juni 2006 in Stuttgart/Hohenhei